“…Tire sensing is an emerging approach to measure tire states such as deformations and to provide information about the tire-road interface including friction level (Singh et al, 2013;Matsuzaki et al, 2015), footprint dimension (Niskanen and Tuononen, 2014), and maximum sinkage (Naranjo et al, 2014), etc., for vehicle control and tire development applications. Several studies (Hong et al, 2013;Zhang et al, 2013;Tuononen, 2009) have demonstrated the ability of tire sensing to reveal the mechanism of generating tire force and to estimate corresponding forces.…”